improve dev environment

.clang-format

@@ -0,0 +1,81 @@
+---
+BasedOnStyle: Google
+IndentWidth: '4'
+ColumnLimit: '120'
+
+IncludeCategories:
+  # main include automatically assigned to Priority 0
+  - Regex: '^".*_(conf|config)\.(hpp|h)"$' # config headers
+    Priority: 3
+  - Regex: '^".*"$' # sibling & project headers
+    Priority: 1
+  - Regex: '^<.*>$' # system & library headers
+    Priority: 2
+
+# Format function arguments and parameters
+BinPackArguments: 'false'
+BinPackParameters: 'false'
+AllowAllArgumentsOnNextLine: 'false'
+AllowAllParametersOfDeclarationOnNextLine: 'false'
+AlignAfterOpenBracket: BlockIndent
+SpaceBeforeParens: ControlStatements
+
+# Constructor Formatting
+PackConstructorInitializers: CurrentLine
+IndentAccessModifiers: 'false'
+AccessModifierOffset: '-4'
+SpaceBeforeCtorInitializerColon: 'true'
+BreakConstructorInitializers: BeforeColon
+LambdaBodyIndentation: OuterScope
+
+AllowShortCaseLabelsOnASingleLine: 'true'
+AllowShortBlocksOnASingleLine: 'false'
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: 'false'
+AllowShortEnumsOnASingleLine: 'true'
+AllowShortFunctionsOnASingleLine: 'Inline'
+AllowShortLambdasOnASingleLine: 'All'
+
+# Switch / Case
+IndentCaseLabels: 'true'
+IndentCaseBlocks: 'false'
+
+# Preprocessor stuff
+AlignConsecutiveMacros: 'true'
+AlignEscapedNewlines: Right
+AlignTrailingComments: 'false'
+SpacesBeforeTrailingComments: 1
+
+# Alignment of procedural code
+AlignConsecutiveAssignments: 'false'
+AlignConsecutiveDeclarations: 'false'
+AlignConsecutiveBitFields: Consecutive
+
+AlignOperands: AlignAfterOperator
+# BreakBeforeTernaryOperators: 'false'
+BreakBeforeBinaryOperators: 'true'
+
+# Pointers and East/West Const
+DerivePointerAlignment: 'false'
+PointerAlignment: Left
+QualifierAlignment: Leave
+# QualifierOrder: ['volatile', 'constexpr', 'static', 'inline', 'type', 'const']
+
+Cpp11BracedListStyle: 'true'
+
+# Vertical Whitespace
+SeparateDefinitionBlocks: Leave
+EmptyLineBeforeAccessModifier: Always
+EmptyLineAfterAccessModifier: Never
+
+# AlignArrayOfStructures: Right
+# InsertTrailingCommas: 'Wrapped'
+
+
+AlwaysBreakAfterReturnType: None
+PenaltyReturnTypeOnItsOwnLine: 9999 # We really hate breaking after return types
+PenaltyBreakAssignment: 999 # Prefer not to break around =
+
+FixNamespaceComments: 'true'
+# NamespaceIndentation: All
+...

.devcontainer/humble/devcontainer.json

@@ -7,7 +7,12 @@
   ],
   "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
   "workspaceFolder": "/${localWorkspaceFolderBasename}",
-  "mounts": [
-
-  ]
-}
+  "mounts": [],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools"
+      ]
+    }
+  }
+}

.devcontainer/iron-remote/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:iron-ros-base
+
+# Add vscode user with same UID and GID as your host system
+# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

.devcontainer/iron-remote/devcontainer.json

@@ -0,0 +1,18 @@
+{
+  "name": "iron-remote",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=/home/pi/odrive_can,target=/${localWorkspaceFolderBasename},type=bind,consistency=cached",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}",
+  "mounts": [],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools"
+      ]
+    }
+  }
+}

.devcontainer/iron/devcontainer.json

@@ -7,7 +7,12 @@
   ],
   "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
   "workspaceFolder": "/${localWorkspaceFolderBasename}",
-  "mounts": [
-
-  ]
-}
+  "mounts": [],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools"
+      ]
+    }
+  }
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/iron/include/hardware_interface",
+                "/opt/ros/iron/include/rcpputils"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-arm64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "C_Cpp.autoAddFileAssociations": false,
+}

.vscode/tasks.json

@@ -0,0 +1,22 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "command": "colcon build --symlink-install",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "clear": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+        },
+    ]
+}